Citation

Li, Dongze and Gan, Kok Beng and Sim, Kok Swee (2026) Numerical Simulation-Based Design of a Pneumatic Finger Rehabilitation Robot for Tele-Rehabilitation. International Journal of Online and Biomedical Engineering (iJOE), 22 (04). ISSN 2626-8493

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Abstract

Hand motor function rehabilitation after stroke or traumatic injury requires repetitive, task-specific training, which is often limited by therapist availability and clinical resources. This study presents a lightweight, modular, and wearable pneumatic robotic arm for finger rehabilitation, designed to support tele-rehabilitation applications. The system employs a four-link mechanical structure that accommodates variations in finger length and enables natural flexion and extension without the need for individual customization. Motion con-trol is achieved using a discrete-time proportional-integral-derivative (PID) controller with aerodynamic drag compensation, ensuring stable and accurate actuation under compress-ible air dynamics. A stage-specific pressure strategy is implemented, applying 0.1 MPa for early mobilization and 0.3 MPa for intensive training, enabling up to 80° of finger bending within 2.5 s. Network-induced latency and sensor delay are explicitly modeled in the con-trol loop, and their effects on response time and tracking accuracy are evaluated through numerical simulations. Simulation results demonstrate a motion tracking error below 2°, with control errors remaining bounded under network latencies up to 50 ms, confirming real-time responsiveness suitable for remote rehabilitation scenarios. These findings support the feasi-bility of a scalable, cost-effective, and clinically viable pneumatic rehabilitation platform for individualized hand therapy and tele-rehabilitation deployment.

Item Type:	Article
Uncontrolled Keywords:	finger rehabilitation robot, pneumatic system modeling, wearable exoskeleton, motion simulation, adaptive control
Subjects:	T Technology > T Technology (General)
Divisions:	Faculty of Engineering and Technology (FET)
Depositing User:	Ms Suzilawati Abu Samah
Date Deposited:	04 May 2026 03:32
Last Modified:	07 May 2026 09:20
URII:	http://shdl.mmu.edu.my/id/eprint/15850

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